X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=be19f16163ac021691fe7124b934a3142db7da0c;hb=9e9154afeb74372b98fb56c9288d5513e8ba6517;hp=35bf8a584ac24f3028998e3215d6d6bf788cdc82;hpb=8d270bbc9b2104f80224a7b2932800ed8d9fd281;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 35bf8a58..be19f161 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
 import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
@@ -7,6 +9,8 @@ import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   public static OI oi;
@@ -14,6 +18,11 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
   public static IntakeArm intakeArm;
 
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
+  SendableChooser positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
+
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
@@ -21,10 +30,86 @@ public class Robot extends IterativeRobot {
     intakeArm = new IntakeArm();
 
     oi = new OI();
+
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChoosers();
+    sendSendableChoosersToSmartDashboard();
+  }
+
+  private void initializeSendableChoosers() {
+    positionChooser = new SendableChooser();
+    positionOneDefense = new SendableChooser();
+    positionTwoDefense = new SendableChooser();
+    positionThreeDefense = new SendableChooser();
+    positionFourDefense = new SendableChooser();
+    positionFiveDefense = new SendableChooser();
+  }
+
+  private void addPositionChooserOptions() {
+    positionChooser.addDefault("Position 1", 1);
+    positionChooser.addObject("Position 2", 2);
+    positionChooser.addObject("Position 3", 3);
+    positionChooser.addObject("Position 4", 4);
+    positionChooser.addObject("Position 5", 5);
+  }
+
+  private void addDefensesToAllDefenseSendableChoosers() {
+    addDefenseOptions(positionOneDefense);
+    addDefenseOptions(positionTwoDefense);
+    addDefenseOptions(positionThreeDefense);
+    addDefenseOptions(positionFourDefense);
+    addDefenseOptions(positionFiveDefense);
+  }
+
+  private void addDefenseOptions(SendableChooser chooser) {
+    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
+    chooser.addObject("Sally Port", Defense.SALLY_PORT);
+    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
+    chooser.addObject("Low Bar", Defense.LOW_BAR);
+    chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
+    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
+    chooser.addObject("Moat", Defense.MOAT);
+    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
+  }
+
+  private void sendSendableChoosersToSmartDashboard() {
+    SmartDashboard.putData("PositionChooser", positionChooser);
+    SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
+    SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
+    SmartDashboard.putData("Position Three Defense Chooser",
+        positionThreeDefense);
+    SmartDashboard
+        .putData("Position Four Defense Chooser", positionFourDefense);
+    SmartDashboard
+        .putData("Position Five Defense Chooser", positionFiveDefense);
+
+    SmartDashboard
+        .putData("Position Four Defense Chooser", positionFourDefense);
+    SmartDashboard
+        .putData("Position Five Defense Chooser", positionFiveDefense);
+
   }
 
   @Override
   public void autonomousInit() {
+    // get options chosen from drop down menu
+    Integer chosenPosition = (Integer) positionChooser.getSelected();
+    Defense chosenDefense = null;
+
+    if (chosenPosition == 1)
+      chosenDefense = (Defense) positionOneDefense.getSelected();
+    else if (chosenPosition == 2)
+      chosenDefense = (Defense) positionTwoDefense.getSelected();
+    else if (chosenPosition == 3)
+      chosenDefense = (Defense) positionThreeDefense.getSelected();
+    else if (chosenPosition == 4)
+      chosenDefense = (Defense) positionFourDefense.getSelected();
+    else if (chosenPosition == 5)
+      chosenDefense = (Defense) positionFiveDefense.getSelected();
+
+    Scheduler.getInstance().add(
+        new ChooseStrategy(chosenPosition, chosenDefense));
   }
 
   @Override